cashiwamochi / simplebundleadjustment Goto Github PK
View Code? Open in Web Editor NEWC++ implementation for Bundle Adjustment in 2-View
License: MIT License
C++ implementation for Bundle Adjustment in 2-View
License: MIT License
How would the Jacobian ComputeJ
change when we have two different intrinsic matrices.
it seems that you compute delta pose on se(3) with left disturbance model, but I noticed that you update the pose with right multiply? why?
‘’‘
// Update!
vm_poses[i] = vm_poses[i] * delta_SE3;
‘’’
Why is the target data added with noise of the initial estimate?
SimpleBundleAdjustment/ba_example.cc
Line 183 in 2b4e524
When I add noise, I see that the bundle adjustment is converging at my initial estimate itself. So why add the noise?
Hello, may I ask, the program input only has 2 pictures, why can I get 2 poses, and what does the warning mean?
One question is, why in FULL optimization, the dimensionality of the Jacobian matrix has to be 5 degrees of freedom?
Another question is, why can't g2o be optimized for only 3D points, but the program can do it here?
Tks very much. Hope helping.
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